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Congress on Image and Signal Processing, CISP

作者： Z. L. Wang B. G. Cai X. L. Du S. Ou J. Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic Information and Engineering Beijing Jiaotong University Beijing China

In this paper, we assume the platform with visual observer is moved on flat ground and a constrained camera-platform configuration. The constrained camera-platform is used to simplify the camera motion model. Based on the assumption and simplified camera-platform configuration, the 3D camera motion can be separately estimated by planar region alignment between two frames. Firstly, a detected 2D motion between two frames is used to align corresponding planar regions, such an alignment or registration can removes the effects of camera rotation, and the resulting residual parallax displacement field between the two region-aligned images is an epipolar field centered at the FOE (Focus-of-Expansion). Then the camera translation can be recovered from the epipolar field. The camera rotation is recovered from the computed 3D translation and the detected 2D motion. The camera motion model is derived and represented by two parts, and a multistage ego-motion estimation process is introduced. Some experiments with real images demonstrate the robustness of the proposed motion estimation method.

关键词： Cameras Motion estimation Robustness Transmission line matrix methods Computer vision Robot vision systems Estimation

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Research on real time analysis and control method of material function quality for high performance work pieces

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Energy Education Science and Technology Part A: Energy Science and Research 2012年第SUPPL.2期30卷 323-328页

作者： Ji, Weixi Li, Xiaobing Cao, Yi Shan, Longyan School of Mechanical Engineering Jiangnan University Wuxi Jiangsu Province 214122 China State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou Zhejiang Province 310027 China State Key Laboratory of Robotics and System Harbin Heilongjiang Province 150080 China

Because of the complexity of shaped surface structure of those critical high performance work pieces of high-end equipment, the requirement of those work pieces is very high. The main requirement of these parts is about their performance, combined with the processing requirements of integration of performance and geometric parameters. These work pieces have the characters of complex moulding surface and their raw materials are difficult to process, the material deformation has big resistance, also the structure property is very sensitive to parameters of thermal processing time, temperature, strength and so on. So when they are being deformed, it is very difficult to ensure the structure property of these parts, which is affected by several factors like material, thermal processing, geometric shape and so on, causing the result of high defective rate in production and low efficiency of machining. This paper comes up with a solution to set up an integrated life cycle information model of quality information for high performance work pieces. The idea changes from dispersive quality information processing to integrate manufacturing process oriented quality information management. Also the paper researches into mapping and integration of quality data and quality inspection standards. It finally provides basis of application technology for quality assurance of critical high performance parts through real time collecting, managing, analyzing, and evaluating of quality inspection data, thus realizing management and control of function quality in the deformation processes. © Sila Science. All Rights Reserved.

关键词： Deformation

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Image sub-pixel recognition method for optical precise adjustment

Image sub-pixel recognition method for optical precise adjus...

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2012 9th IEEE International Conference on mechatronics and Automation, ICMA 2012

作者： Ma, Li Zhou, Shasha Ouyang, Hangkong He, Zhengfeng Rong, Weibin Sun, Lining School of Mechatronic Engineering and Automation University of Shanghai Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Cavity adjustment is a critical step for manufacturing laser gyro. Location relation of the laser facula and the aperture images should be detected to provide control information for the movement of the cavity adjustment mechanism. According to the image features, a sequence image variance method is proposed to segment the laser facula image, and maximum variance between clusters method (Ostu algorithm) is adopted to acquire automatic threshold value to segment the aperture image. Use the edge detection of binary image to obtain pixel edge of the laser facula and the aperture images. And sub-pixel edge point information of the images is given by a parameter fitting method. Centre points coordinates of the laser facula and the aperture are achieved by fitting sub-pixel edge utilizing the least square ellipse fitting method. The experimental results of cavity adjustment verify the validity of image recognition method of the laser facula and the aperture. © 2012 IEEE.

关键词： Binary images

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New self-calibration approach to space robots based on hand-eye vision

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Journal of Central South University 2011年第4期18卷 1087-1096页

作者：刘宇刘宏倪风雷徐文福 State Key Laboratory of Robotics and System Harbin Institute of Technology Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School

To overcome the influence of on-orbit extreme temperature environment on the tool pose(position and orientation) accuracy of a space robot,a new self-calibration method based on a measurement camera(hand-eye vision) attached to its end-effector was *** the relative pose errors between the two adjacent calibration positions of the space robot,the cost function of the calibration was built,which was different from the conventional calibration *** particle swarm optimization algorithm(PSO) was used to optimize the function to realize the geometrical parameter identification of the space *** above calibration method was carried out through self-calibration simulation of a six-DOF space robot whose end-effector was equipped with hand-eye *** results showed that after calibration there was a significant improvement of tool pose accuracy in a set of independent reference positions,which verified the feasibility of the *** the same time,because it was unnecessary for this method to know the transformation matrix from the robot base to the calibration plate,it reduced the complexity of calibration model and shortened the error propagation chain,which benefited to improve the calibration accuracy.

关键词： space robot self-calibration cost function hand-eye vision particle swarm optimization algorithm

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A Study on sEMG Simulation Modeling and Its Decomposition Methods

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Chinese Journal of Biomedical engineering(English Edition) 2012年第1期21卷 1-11页

作者： ZOU Ling MA Xiao-juan RONG Hai-long School of Information Science & Engineering Changzhou University Changzhou 213164 China State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin 150001 China

In this paper, we establish a surface electromyography(sEMG) signal model and study the signal decomposition method from noisy background. Firstly, single fiber action potential (SFAP), motor unit action potential (MUAP) and motor unit action potential train(MUAPT) are simulated based on the tripolar signal source model, and then the sEMG is obtained; secondly, the simulated sEMG signal is extracted from the mixed signals that consists of white noises, power frequency interference signal and electrocardio signal by independent component analysis (ICA) algorithms; lastly, the spikes corresponding to each motor unit action potential from the simulated sEMG signals were detected by applying the wavelet transform (WT) method. Simulation results showed that sEMG model could describe the physiological process of sEMG, ICA and WT methods could extract the sEMG signal and its features, which will lay a foundation for further classifying the MUAP.

关键词： sEMG simulation recruitment and firing motor unit action potential independent component analysis wavelet transform

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Planar Region Alignment based Visual Regulation for Mobile Robot

Planar Region Alignment based Visual Regulation for Mobile R...

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International Conference on mechatronics and Automation

作者： Z. L. Wang Y. Liu B. G. Cai J. Zhao School of Electronic Information and Engineering Beijing Jiao Tong University State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467312752

It has been proved that, based on planar region alignment, camera ego-motion motion can be robustly estimated with a multistage approach in [24], Based on this observation, a visual regulation approach based on planar region alignment is proposed. This paper is composed of two parts. In the first part, the image motion model of planar point is reviewed first, which will be used for camera motion estimation. Then a simple least square method for computing homography matrix H is introduced. The basic procedure of multistage motion estimation based on planar region alignment is summarized. In the second part, the kinematic model of monocular camera based mobile robot system is deduced with a constrained camera-robot configuration, the visual regulation control law is derived and the stability of the close loop system is analyzed in the sense of Lyapunov stability theory. The motion estimation experiment results are presented with real images, and simulation results show the convergence of the proposed visual regulation.

关键词： Region alignment Monocular vision Mobile robot Visual regulation Lypunov stability theory

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Simulation of near-field optical manipulator using the combination of a near-field scanning optical microscope probe and an atomic force microscope metallic probe

Simulation of near-field optical manipulator using the combi...

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作者： Liu, Binghui Yang, Lijun Wang, Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

We propose a physical model to calculate the trapping force on a nanoparticle trapped by the system using the combination of a near-field scanning optical microscope (NSOM) probe and an atomic force microscope (AFM) metallic probe. Such a near-field trap is produced by evanescent illumination from the NSOM probe and light scattering at the tip of the AFM metallic probe. By using the Maxwell stress tensor through the electric field distribution obtained with the three-dimensional finite difference time domain (3-D FDTD) method, the dependence of the trapping force on the system parameters is discussed, and trapping properties including near-field distribution, trapping position, and the role of other forces versus trapping force are revealed. The results indicate that a particle down to tens of nanometers in size can be trapped toward the tip of an AFM probe with a lower laser intensity (∼1040 W/mm2) than that required by conventional optical manipulators (∼105 W/mm2). © 2011 American Institute of Physics.

关键词： Probes

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Network-based humanoid robot remote interaction with the actual situation Fusion Technology

Network-based humanoid robot remote interaction with the act...

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The 2011 International Conference on Advanced Materials and Information Technology Processing(AMITP 2011)

作者： YU Guochen WANG Zhiliang XIE Lun XU Jiaming State Key Laboratory of Robotics and System Harbin Institute of Technology School of Computer and Communication Engineering University of Science and Technology Beijing

ISBN: (纸本)9783037851579

With the rapid development of network technology, network-based humanoid robot technology will also be open to the development of gradual and orderly progress. This article is based on the C / S architecture, the server responsible for controlling the record of news and information network transit between paragraphs;through remote interaction, real-time client to complete the real humanoid robot control functions. Interoperability between the client, first to sign the server. Server information of all registered users to return to the client process, then the client users will be able to get online users to select the remote robot interaction..When a user operation, the client program as a virtual robot through the virtual robot laboratory will be displayed in realtime robot control results.

关键词： Humanoid robot,remote interactive,virtual,real-time,network

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Tracking control of an electro-hydraulic shaking table system using a combined feedforward inverse model and adaptive inverse control for real-time testing

Tracking control of an electro-hydraulic shaking table syste...

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作者： Shen, G. Zheng, S.T. Ye, Z.M. Yang, Z.D. Zhao, Y. Han, J.W. State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Yikuang Street 2# Nangang District Harbin Heilongjiang Province 150001 China

An electro-hydraulic shaking table (EHST) is used for real-time replication of situations that occur in civil and architectural engineering, the automotive industry, and earthquake resistance testing. EHSTs are able to generate a large force at high speeds over a wide frequency range and this feature makes them invaluable in performing vibration tests. Unfortunately, due to the inherent dynamics of the EHST system's hydraulics, the output response of an EHST system displays magnitude attenuation and phase delays in response to displacement and acceleration commands. A feedforward inverse model (FFIM) combined with adaptive inverse control (AIC) is proposed to improve the tracking performance of the EHST following specified displacement and acceleration commands. The proposed control strategy utilizes a FFIM to extend the EHST system's frequency bandwidth and uses AIC based on a recursive least squares (RLS) algorithm to adaptively adjust the time domain drive signal of the EHST servo controller and improve the tracking accuracy. Experimental and simulation results demonstrate the effectiveness of the proposed combined control strategy. © Authors 2011.

关键词： Earthquake engineering

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Servo system of 6 DOF electro-hydraulic shaking table

Servo system of 6 DOF electro-hydraulic shaking table

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics, CAR 2011

作者： Yin, Liyi Ye, Zhengmao Shen, Gang Han, Junwei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou Jiangsu 221116 China

ISBN: (纸本)9783642258985

Electro-hydraulic shaking table (EHST) is a useful experimental apparatus to real-time replicate the desired acceleration vibration signal for evaluating the performance of the tested specimen structural systems. A three axis six degree-of-freedom (DOF) EHST system with eight hydraulic actuators is presented in the paper. A decouple control method is employed to lower the acceleration couple among the six DOF. The procedure of the decouple controller is programmed in MATLAB/Simulink, and then compiled to a real-time PC with Microsoft Visual *** for implementation. The experimental results demonstrate that a better tracking performance with the improved servo controller is achieved in experiments by using actual EHST. © 2011 Springer-Verlag.

关键词： Hydraulic actuators

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